CN109283548B - Laser angle measurement system and anti-backscattering method - Google Patents
Laser angle measurement system and anti-backscattering method Download PDFInfo
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- CN109283548B CN109283548B CN201810779168.5A CN201810779168A CN109283548B CN 109283548 B CN109283548 B CN 109283548B CN 201810779168 A CN201810779168 A CN 201810779168A CN 109283548 B CN109283548 B CN 109283548B
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- 238000012360 testing method Methods 0.000 claims description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/481—Constructional features, e.g. arrangements of optical elements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/495—Counter-measures or counter-counter-measures using electronic or electro-optical means
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The laser angle measurement system for resisting back scattering includes a position marker and an electronic cabin, wherein the position marker consists of an optical device and a detector; the electronic cabin consists of a front-end circuit, a switch circuit, a high-speed acquisition circuit, a processor and a power supply; the processor is connected with the switch circuit; the anti-backscattering method comprises the steps of: 1) The laser pulse with the period of 50ms optically receives back scattering and target echo signals through atmospheric attenuation and target diffuse reflection; 2) The processor performs waveform matching to search for a target signal, and the gate is in an open state and is converted into a digital signal; 3) The processor performs waveform matching on the digital signals, and if successful, closes the wave gate and simultaneously opens the timer; if not, continuing to acquire signals to carry out waveform matching; 4) After successful matching, opening a wave gate until 49.999ms, calculating angle information, filtering back scattering and interference signals, and collecting only target echo signals; 5) Guan Bomen by 50ms, recounting, repetitions 4) and 5); high sensitivity and high anti-interference capability.
Description
Technical Field
The invention belongs to the technical field of laser angle measurement systems, and particularly relates to a laser angle measurement system and a backscattering resistance method.
Background
The laser angle measurement system tracks the target by receiving the laser echo reflected by the target diffusely, and the information detection and processing methods adopted by most laser angle measurement systems or the received information quantity have limited target identification capability and are insufficient for judging whether the target is tracked. As long as it is within the detection field of view, which signal energy is large, precisely where the laser spot is, tracks which.
For the target detection of the signal received by the interference detection system due to the atmospheric scattering, the angle measurement system can easily identify that the atmospheric backscattering is the target, and especially when the atmospheric environment is very bad, the backscattering of the atmosphere is serious, and the signal of the atmospheric backscattering can be larger than the signal reflected by the target, so that the signal returned by the atmosphere is mistakenly regarded as the energy signal reflected by the target, and the laser angle measurement system can not track the target normally.
Therefore, in order to obtain higher capturing precision, the laser angle measurement system needs to filter out the atmospheric back scattering echo signal and the induced signal, and identify the real target echo pulse signal so as to meet the missile guidance requirement.
At present, only the Chinese aerospace aerodynamic technical institute utilizes a distance wave gate technology to inhibit interference caused by atmospheric backscattering to capturing a target signal by an angle measurement system, and backward scattered light and target reflected light at different distances are separated according to time sequence, but a synchronous signal sent by a missile fire control system is needed, so that the difficulty is increased in application.
Disclosure of Invention
In order to solve the problems, the technical scheme of the invention is as follows: a laser angle measurement system and a method for resisting backscattering, wherein the laser angle measurement system utilizes the laser diffusely reflected by a target to automatically intercept and track a ground fixed/moving target; meanwhile, a target sight angle signal (azimuth and pitching) relative to the missile axis is provided for the missile autopilot, so that the missile can be guided automatically until a target is hit.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the laser angle measurement system for resisting back scattering includes a position marker and an electronic cabin, wherein the position marker consists of an optical device and a detector; the electronic cabin consists of a front-end circuit, a switch circuit, a high-speed acquisition circuit, a processor and a power supply;
the optical device is connected with the detector; the detector is connected with the high-speed acquisition circuit through the front-end circuit; the high-speed acquisition circuit is connected with the bullet loading machine through the processor;
the GPIO terminal of the processor is connected with the switch circuit.
The processor is connected with the bullet machine through a communication interface.
The power supply is electrically connected with the detector, the front-end circuit, the switching circuit, the high-speed acquisition circuit and the processor to supply power to all circuits of the angle measuring system.
The optical device is arranged at the front end of the angle measurement system and comprises a narrow-band optical filter and a plurality of optical mirrors, the narrow-band optical filter only allows the used laser wavelength to penetrate and remove clutter interference, and the plurality of optical mirrors are used for collecting and converging laser signals, wherein the laser signals comprise target reflected light and backward scattered light.
The front discharging circuit adopts ADA4817 chip and AD8336 chip of AD company to condition and amplify current signal, and the design of the front discharging circuit makes the system have large dynamic range and perform automatic gain control because the signal increases sharply with decreasing distance.
The switching circuit adopts a FAIRCHILD company FA66 chip, is connected with the front discharge circuit, is controlled by the processor to be only started when a laser signal arrives after target identification, and is closed at other times, so that backward scattering and clutter interference can be effectively filtered.
The high-speed acquisition circuit adopts an AD9239 chip of an AD company, is connected with the switch, and effectively samples the pulse electric signal after detecting the pulse of the pulse electric signal, so as to ensure the sample hold and output of the laser pulse electric signal when the wave gate is opened.
The optical signals processed by the optical device are converged on the detector, the detector converts the optical signals into current signals, the offset and the offset azimuth of the target relative to the optical axis are measured by using a four-quadrant element, when the target offsets the optical axis, the laser energy is distributed unevenly on the four quadrants, and the offset can be obtained through sum and difference operation. The linear range is adjusted by adjusting the size of the light spot, the defocus amount of the four-quadrant element, and the like.
The collected signals can identify the correct target signals through a software internal algorithm of a processor connected with a high-speed collection circuit. After identification, the time of the identified target signal is taken as a reference, the arrival time of the target signal is further predicted, so that the control wave gate is opened only when the target signal arrives, and the wave gate is closed at other times, thereby achieving the purpose of removing the backward scattering interference and solving the problem that the accurate guidance cannot be realized due to the fact that the control wave gate is opened only when the target signal arrives.
The anti-back scattering laser angle measurement system is connected with the on-board machine through the communication interface of the processor, and feeds back the measured angle and other information to the on-board machine through the communication interface.
A method for resisting backscatter using a laser goniometer system, comprising the steps of:
step 1, a laser emits laser pulses with the period of 50ms, and through atmospheric attenuation and target diffuse reflection, the optical reception of an angle measurement system is backward scattering and target echo signals;
step 2, the processor of the angle measurement system performs waveform matching on the high-speed collected signals to search for target signals, at the moment, the wave gate is in an open state, the optical signals received by the angle measurement system are converted into digital signals by the high-speed collection circuit after photoelectric processing of the detector, and the processor performs waveform matching on the obtained digital signals
a. If the matching is successful, closing the wave gate and simultaneously starting a timer;
a filter is defined by the impulse response h (t) and taken
h(t)＝s(-t)，-T≤t≤0
For a received signal r (T) to be processed at 0T T, the response of the matched filter is g (T):
this gives:
wherein S is a test statistic, that is, the output S of the correlation receiver is the result of sampling the output of the matched filter at the starting point t=0 of the observation area; u is the integral of t, t is the variable, u is the integral;
the actual target echo signal s (t) signal is a discrete digital sequence s (n) after high-speed acquisition, the received signal r (t) is a sequence r (n), and similarly, the response of the matched filter is g (n):
this gives:
b. if the matching is unsuccessful, continuing to acquire signals to carry out waveform matching;
step 3, after the matching is successful, a timer of the processor counts 49.999ms and then opens a wave gate, the processor processes the signals acquired at high speed to calculate angle information, and at the moment, the backscattering and interference signals are filtered, and only target echo signals are acquired;
step 4, the timer counts up to 50ms Guan Bomen, and the timer restarts counting, and then steps 3 and 4 are repeated continuously.
The beneficial effects of the invention are as follows:
the anti-back scattering laser angle measurement system automatically intercepts and tracks the ground fixed/moving target by utilizing the laser diffusely reflected by the target. Meanwhile, a target sight angle signal (azimuth and pitching) relative to the missile axis is provided for the missile autopilot, so that the missile can be guided automatically until a target is hit. According to the detection method of the laser angle measurement system, a synchronous signal is not needed, so that the laser angle measurement system overcomes and eliminates the atmospheric scattering interference to realize accurate guidance.
The laser angle measurement system for resisting back scattering consists of a position marker and an electronic cabin, wherein the position marker is used for collecting and converging laser and converting the laser into a current signal, and the electronic cabin is used for conditioning, amplifying and collecting the current signal. The acquired signals identify the correct target signals through an internal algorithm of software, so that the arrival time of the target signals is further predicted, the control wave gate is opened only when the target signals arrive, the aim of removing the backward scattering interference is achieved, and the problem that accurate guidance cannot be achieved due to the fact that the backward scattering interference is solved.
When backscattering exists, post-injection interception can be realized; the limitation on the use environment is reduced, and the same-machine irradiation without included angles can be realized; high sensitivity and strong anti-interference capability.
Brief description of the drawings
Fig. 1 is a schematic block diagram of the circuit of the present invention.
Fig. 2 is a flow chart of the present invention.
FIG. 3 is a schematic representation of the response of the anti-backscatter system of the present invention.
Fig. 4 is a diagram of an actual waveform obtained by sampling at a high speed in an embodiment of the present invention.
Detailed Description
The structural principles, procedures and working principles of the present invention are described in further detail below with reference to the drawings and examples.
The back scattering resisting laser angle measuring system has the circuit structure shown in figure 1 and includes one position marker comprising optical device and detector and electronic cabin; the electronic cabin consists of a front-end circuit, a switch circuit, a high-speed acquisition circuit, a processor and a power supply;
the optical device is connected with the detector; the detector is connected with the high-speed acquisition circuit through the front-end circuit; the high-speed acquisition circuit is connected with the bullet loading machine through the processor;
the GPIO terminal of the processor is connected with the switch circuit.
The processor is connected with the bullet machine through a communication interface.
The power supply is electrically connected with the detector, the front-end circuit, the switching circuit, the high-speed acquisition circuit and the processor to supply power to all circuits of the angle measuring system.
The optical device is arranged at the front end of the angle measurement system and comprises a narrow-band optical filter and a plurality of optical mirrors, the narrow-band optical filter only allows the used laser wavelength to penetrate and remove clutter interference, and the plurality of optical mirrors are used for collecting and converging laser signals, wherein the laser signals comprise target reflected light and backward scattered light.
The current signal is conditioned and amplified by the front amplifying circuit, and the design of the front amplifying circuit ensures that the system has a large dynamic range and performs automatic gain control because the signal is increased sharply along with the decrease of the distance.
And after the pulse electric signal pulse is detected by the high-speed acquisition circuit connected with the switch, the pulse electric signal is effectively sampled, so that the sampling, holding and outputting of the laser pulse electric signal when the wave gate is opened are ensured.
The switch circuit connected with the front discharge circuit is controlled by the processor to be turned on only when a laser signal arrives after the target is identified, and turned off at other times, so that backscattering and clutter interference can be effectively filtered.
The optical signals processed by the optical device are converged on the detector, the detector converts the laser signals into current signals, the four-quadrant elements are used for measuring the offset and the offset azimuth of the target relative to the optical axis, when the target offsets the optical axis, the laser energy is distributed unevenly on the four quadrants, and the offset can be obtained through sum and difference operation. The linear range is adjusted by adjusting the size of the light spot, the defocus amount of the four-quadrant element, and the like.
The collected signals can identify the correct target signals through a software internal algorithm of a processor connected with a high-speed collection circuit. After identification, the time of the identified target signal is taken as a reference, the arrival time of the target signal is further predicted, so that the control wave gate is opened only when the target signal arrives, and the wave gate is closed at other times, thereby achieving the purpose of removing the backward scattering interference and solving the problem that the accurate guidance cannot be realized due to the fact that the control wave gate is opened only when the target signal arrives.
The anti-back scattering laser angle measurement system is connected with the bullet upper machine through the communication interface of the processor, and feeds back the measured angle and other information to the bullet upper machine through the communication interface.
The back scattering resisting method with laser angle measuring system includes the following steps:
step 1, a laser emits laser pulses with the period of 50ms, and through atmospheric attenuation and target diffuse reflection, the optical reception of an angle measurement system is backward scattering and target echo signals;
step 2, a processor of the angle measurement system performs waveform matching on the signals acquired at high speed to search for target signals, at the moment, the wave gate is in an open state, optical signals received by the angle measurement system are converted into digital signals by a high-speed acquisition circuit after photoelectric processing of the detector, and the processor performs waveform matching on the obtained digital signals:
a. if the matching is successful, closing the wave gate and simultaneously starting a timer;
a filter is defined by the impulse response h (t) and taken
h(t)＝s(-t)，-T≤t≤0
For a received signal r (T) to be processed at 0.ltoreq.t.ltoreq.T, the response of the matched filter is:
this gives:
wherein S is a test statistic, that is, the output S of the correlation receiver is the result of sampling the output of the matched filter at the starting point t=0 of the observation area; u is the integral of t, t is the variable, u is the integral;
the actual target echo signal s (t) is a discrete digital sequence s (n) after high-speed acquisition, the received signal r (t) is a sequence r (n), and similarly, the response of the matched filter is as follows:
this gives:
b. if the matching is unsuccessful, continuing to acquire signals to carry out waveform matching;
step 3, after the matching is successful, a timer of the processor counts 49.999ms and then opens a wave gate, the processor processes the acquired signals acquired at high speed to calculate angle information, and at the moment, the backward scattering and interference signals are filtered, and only the target echo signals are acquired;
step 4, the timer counts up to 50ms Guan Bomen, and the timer restarts counting, and then steps 3 and 4 are repeated continuously.
The angle measurement system starts searching work, can detect back scattering and target echo, matches according to the waveform characteristics of the echo signals, and judges whether the echo signals are echo signals or not.
The laser pulse signal emitted by the laser is delta (t), and after the atmospheric attenuation, the diffuse reflection of the target and the photoelectric treatment of the angle measurement system, the target echo is s (t), as shown in the response schematic diagram of the system in fig. 3. The system output target echo s (t) under the action of the laser pulse signal delta (t) is the convolution of the input of the system and the response h (t) of the system, namely delta (t) ×h (t) =s (t), and since the convolution of any signal and the impact function is itself, h (t) =s (t).
A filter is now defined by the impulse response h (t) and taken
h(t)＝s(-t)，-T≤t≤0
For a received signal r (T) to be processed at 0.ltoreq.t.ltoreq.T, the response of the matched filter is:
this gives:
wherein S is a test statistic, that is, the output S of the correlation receiver is the result of sampling the output of the matched filter at the starting point t=0 of the observation area;
the actual target echo signal s (t) is a discrete digital sequence s (n) after high-speed acquisition, the received signal r (t) is a sequence r (n), and similarly, the response of the matched filter is as follows:
this gives:
the sampling rate of the high-speed sampling circuit is 500MHz, the pulse width of an s (t) signal is 600ns, and the number of points N=300 of the obtained sequence s (N); after the sequence normalization processing of the actual sampling, setting S through matched filtering calculation t =30, the probability of interception is greater than 98%.
If an echo signal can be identified (S > S) t 30), starting time counting, wherein the starting value is the moment when the laser pulse reaches the angle measurement system, and the counting mode is incremental counting; if the echo signal cannot be identified (S < S t =30), the search is continued. The time counting value is 49.999ms, a wave gate is opened, and at the moment, the target echo reaches the angle measurement system, and the angle measurement system receives the target echo signal and outputs the target echo signal after signal processing, conditioning and amplifying and acquisition; and closing the wave gate immediately after the target echo arrives at the angle measurement system, so as to ensure that the wave gate is opened only when the target echo arrives and closed when the atmospheric backscattering interference arrives at the angle measurement system. The purpose of removing the backward scattering interference is achieved. The method comprises the steps that in FIG. 4, an echo signal is s (t) (a signal after a wave gate) and a backscattering and target echo is r (t) (a signal before the wave gate) are acquired at an input end of high-speed acquisition; FIG. 4 illustrates the closing of the wave gate upon arrival of the captured backscatter, with no backscatter signal in the signal after the wave gate; the gate opens just before the echo signal is coming, and the signal after the gate is the echo signal.
Claims (1)
1. A method for resisting backscatter using a laser goniometer system, comprising the steps of:
step 1, a laser emits laser pulses with the period of 50ms, and the optical device of the angle measurement system receives backward scattering and target echo signals through atmospheric attenuation and target diffuse reflection;
step 2, the processor of the angle measurement system performs waveform matching on the high-speed collected signals to search for target signals, at the moment, the wave gate is in an open state, the optical signals received by the optical device of the angle measurement system are converted into digital signals by the high-speed collection circuit after photoelectric processing of the detector, and the processor performs waveform matching on the obtained digital signals
a. If the matching is successful, closing the wave gate and simultaneously starting a timer;
a filter is defined by the impulse response h (t) and taken
h(t)＝s(-t)，-T≤t≤0
For a received signal r (T) to be processed at 0.ltoreq.t.ltoreq.T, the response of the matched filter is:
this gives:
wherein S is a test statistic, that is, the output S of the correlation receiver is the result of sampling the output of the matched filter at the starting point t=0 of the observation area; u is the integral of t, t is the variable, u is the integral;
the actual target echo signal s (t) is a discrete digital sequence s (n) after high-speed acquisition, the received signal r (t) is a sequence r (n), and similarly, the response of the matched filter is as follows:
this gives:
b. if the matching is unsuccessful, continuing to acquire signals to carry out waveform matching;
step 3, after the matching is successful, a timer of the processor counts 49.999ms and then opens a wave gate, the processor processes the signals acquired at high speed to calculate angle information, and at the moment, the backscattering and interference signals are filtered, and only target echo signals are acquired;
step 4, the timer counts up to 50ms Guan Bomen, and the timer restarts counting, and then steps 3 and 4 are repeated continuously.
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